Data-Driven Abstractions for Robots With Stochastic Dynamics
Date
2021-11-22
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
IEEE Transactions on Robotics
Abstract
This article describes the construction of stochastic, data-based discrete abstractions for uncertain random processes continuous in time and space. Motivated by the fact that modeling processes often introduce errors which interfere with the implementation of control strategies, here the abstraction process proceeds in reverse: the methodology does not abstract models; rather it models abstractions. Specifically, it first formalizes a template for a family of stochastic abstractions, and then fits the parameters of that template to match the dynamics of the underlying process and ground the abstraction. The article also shows how the parameter-fitting approach can be implemented based on a probabilistic model validation approach which draws from randomized algorithms, and results in a discrete abstract model which is approximately simulated by the actual process physics, at a desired confidence level. In this way, the models afford the implementation of symbolic control plans with probabilistic guarantees at a desired level of fidelity.
Description
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This article was originally published in IEEE Transactions on Robotics. The version of record is available at: https://doi.org/10.1109/TRO.2021.3119209
Keywords
Discrete abstractions, randomized algorithms, simulation relations, stochastic processes
Citation
H. G. Tanner and A. Stager, "Data-Driven Abstractions for Robots With Stochastic Dynamics," in IEEE Transactions on Robotics, doi: 10.1109/TRO.2021.3119209.